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<h1>src/qvgpukltflow/qvkltfeaturetracking.cpp</h1><a href="qvkltfeaturetracking_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
<a name="l00002"></a>00002 <span class="comment"> *      Copyright (C) 2011, 2012. PARP Research Group.</span>
<a name="l00003"></a>00003 <span class="comment"> *      &lt;http://perception.inf.um.es&gt;</span>
<a name="l00004"></a>00004 <span class="comment"> *      University of Murcia, Spain.</span>
<a name="l00005"></a>00005 <span class="comment"> *</span>
<a name="l00006"></a>00006 <span class="comment"> *      This file is part of the QVision library.</span>
<a name="l00007"></a>00007 <span class="comment"> *</span>
<a name="l00008"></a>00008 <span class="comment"> *      QVision is free software: you can redistribute it and/or modify</span>
<a name="l00009"></a>00009 <span class="comment"> *      it under the terms of the GNU Lesser General Public License as</span>
<a name="l00010"></a>00010 <span class="comment"> *      published by the Free Software Foundation, version 3 of the License.</span>
<a name="l00011"></a>00011 <span class="comment"> *</span>
<a name="l00012"></a>00012 <span class="comment"> *      QVision is distributed in the hope that it will be useful,</span>
<a name="l00013"></a>00013 <span class="comment"> *      but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
<a name="l00014"></a>00014 <span class="comment"> *      MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the</span>
<a name="l00015"></a>00015 <span class="comment"> *      GNU Lesser General Public License for more details.</span>
<a name="l00016"></a>00016 <span class="comment"> *</span>
<a name="l00017"></a>00017 <span class="comment"> *      You should have received a copy of the GNU Lesser General Public</span>
<a name="l00018"></a>00018 <span class="comment"> *      License along with QVision. If not, see &lt;http://www.gnu.org/licenses/&gt;.</span>
<a name="l00019"></a>00019 <span class="comment"> */</span>
<a name="l00020"></a>00020 
<a name="l00024"></a>00024 
<a name="l00025"></a>00025 <span class="preprocessor">#include &lt;QVKLTFeatureTracking&gt;</span>
<a name="l00026"></a>00026 
<a name="l00027"></a><a class="code" href="classQVTrackingManager.html#a2cc4a4e200c32f2db347a1c217499f0e">00027</a> <span class="keywordtype">void</span> <a class="code" href="classQVTrackingManager.html#a2cc4a4e200c32f2db347a1c217499f0e" title="Update the tracking hash with the updated feature hash.">QVTrackingManager::updateTrackings</a>(QHash&lt;int, QVKLTTrackerFeature&gt; *tracks) {
<a name="l00028"></a>00028     <span class="comment">// First we check for lost trackings, and remove them (only if the tracking was initially</span>
<a name="l00029"></a>00029     <span class="comment">// configured to do so):</span>
<a name="l00030"></a>00030     <span class="keywordflow">if</span> (removeLostTrackings) {
<a name="l00031"></a>00031         QList&lt;int&gt; lost = QList&lt;int&gt; ();
<a name="l00032"></a>00032         QHash&lt;int, QVKLTFeatureTracking&gt;::iterator j;
<a name="l00033"></a>00033         <span class="comment">// We run through all trackings, and remove those that belong to a lost feature:</span>
<a name="l00034"></a>00034         <span class="keywordflow">for</span> (j = trackings.begin(); j != trackings.end(); j++) {
<a name="l00035"></a>00035             <span class="keywordflow">if</span> (!tracks-&gt;contains(j.key()))
<a name="l00036"></a>00036                 lost &lt;&lt; j.key();
<a name="l00037"></a>00037         }
<a name="l00038"></a>00038         <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0; i &lt; lost.size(); i++){
<a name="l00039"></a>00039             trackings.remove(lost[i]);
<a name="l00040"></a>00040         }
<a name="l00041"></a>00041     }
<a name="l00042"></a>00042 
<a name="l00043"></a>00043     <span class="comment">// Then we add features from the current frame to the stored trackings:</span>
<a name="l00044"></a>00044     QHash&lt;int, QVKLTTrackerFeature&gt;::iterator i;
<a name="l00045"></a>00045     <span class="keywordflow">for</span> (i = tracks-&gt;begin(); i != tracks-&gt;end(); ++i) {
<a name="l00046"></a>00046         <span class="keywordflow">if</span> (trackings.contains(i.key())) {
<a name="l00047"></a>00047             <span class="comment">// Existing feature -&gt; add to corresponding tracking:</span>
<a name="l00048"></a>00048             trackings[i.key()].addFeature(i.value());
<a name="l00049"></a>00049         } <span class="keywordflow">else</span> {
<a name="l00050"></a>00050             <span class="comment">// New feature -&gt; create new tracking:</span>
<a name="l00051"></a>00051             trackings.insert(i.key(), <a class="code" href="classQVKLTFeatureTracking.html" title="Class to store the successive positions of an individual feature tracked in a video...">QVKLTFeatureTracking</a>(i.value(), this-&gt;actualFrame));
<a name="l00052"></a>00052         }
<a name="l00053"></a>00053     }
<a name="l00054"></a>00054 
<a name="l00055"></a>00055     this-&gt;actualFrame++;
<a name="l00056"></a>00056 }
<a name="l00057"></a>00057 
<a name="l00058"></a><a class="code" href="classQVTrackingManager.html#ab74651fa44e436a6bf92022163484e60">00058</a> QList&lt;int&gt; <a class="code" href="classQVTrackingManager.html#ab74651fa44e436a6bf92022163484e60" title="Get all features tracked in the last frame.">QVTrackingManager::getTrackingsAtLastFrame</a>() {
<a name="l00059"></a>00059     <span class="keywordflow">if</span> (removeLostTrackings) {
<a name="l00060"></a>00060         <span class="keywordflow">return</span> trackings.keys();
<a name="l00061"></a>00061     } <span class="keywordflow">else</span>{
<a name="l00062"></a>00062         <span class="keywordflow">return</span> <a class="code" href="classQVTrackingManager.html#aba824019bf7e2b1c35dc427cc2fa67b6" title="Get all features tracked in a given frame.">getTrackingsAtFrame</a>(this-&gt;actualFrame);
<a name="l00063"></a>00063     }
<a name="l00064"></a>00064 }
<a name="l00065"></a>00065 
<a name="l00066"></a><a class="code" href="classQVTrackingManager.html#aba824019bf7e2b1c35dc427cc2fa67b6">00066</a> QList&lt;int&gt; <a class="code" href="classQVTrackingManager.html#aba824019bf7e2b1c35dc427cc2fa67b6" title="Get all features tracked in a given frame.">QVTrackingManager::getTrackingsAtFrame</a>(<span class="keywordtype">int</span> frame) {
<a name="l00067"></a>00067     QList&lt;int&gt; ids = QList&lt;int&gt; ();
<a name="l00068"></a>00068     QHash&lt;int, QVKLTFeatureTracking&gt;::iterator j;
<a name="l00069"></a>00069     <span class="keywordflow">for</span>(j = trackings.begin(); j != trackings.end(); j++) {
<a name="l00070"></a>00070         <a class="code" href="classQVKLTFeatureTracking.html" title="Class to store the successive positions of an individual feature tracked in a video...">QVKLTFeatureTracking</a> ft = j.value();
<a name="l00071"></a>00071         <span class="comment">// if(ft.getLastFrame() &lt;= frame) // OJO (?)</span>
<a name="l00072"></a>00072         <span class="keywordflow">if</span>( (ft.<a class="code" href="classQVKLTFeatureTracking.html#acfe71e802d735513975c455e5e01f0d4" title="Gets the index of the first frame in which the feature was detected.">getFirstFrame</a>() &lt;= frame) and (frame &lt;= ft.<a class="code" href="classQVKLTFeatureTracking.html#a7477cf0438d610652a2fbc4788ce35b3" title="Gets the index of the last frame in which the feature was detected.">getLastFrame</a>()) )
<a name="l00073"></a>00073             ids &lt;&lt; j.key();
<a name="l00074"></a>00074     }
<a name="l00075"></a>00075     <span class="keywordflow">return</span> ids;
<a name="l00076"></a>00076 }
</pre></div></div>
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